tf2 Namespace Reference

tf2 namespace extension for message conversion overload resolution. More...

Functions
template<class Scalar >
beluga_ros::msg::Point	toMsg (const Eigen::Matrix< Scalar, 2, 1 > &in)
	Converts an Eigen Vector2 type to a Point message. More...
template<class Scalar >
beluga_ros::msg::Pose &	toMsg (const Sophus::SE2< Scalar > &in, beluga_ros::msg::Pose &out)
	Converts a Sophus SE2 type to a Pose message. More...
template<class Scalar >
beluga_ros::msg::Pose &	toMsg (const Sophus::SE3< Scalar > &in, beluga_ros::msg::Pose &out)
	Converts a Sophus SE3 type to a Pose message. More...
template<class Scalar >
beluga_ros::msg::Transform	toMsg (const Sophus::SE2< Scalar > &in)
	Converts a Sophus SE2 type to a Transform message. More...
template<class Scalar >
beluga_ros::msg::Transform	toMsg (const Sophus::SE3< Scalar > &in)
	Converts a Sophus SE3 type to a Transform message. More...
template<class Scalar >
void	fromMsg (const beluga_ros::msg::Transform &msg, Sophus::SE2< Scalar > &out)
	Converts a Transform message type to a Sophus SE2 type. More...
template<class Scalar >
void	fromMsg (const beluga_ros::msg::Transform &msg, Sophus::SE3< Scalar > &out)
	Converts a Transform message type to a Sophus SE3 type. More...
template<class Scalar >
void	fromMsg (const beluga_ros::msg::Pose &msg, Sophus::SE2< Scalar > &out)
	Converts a Pose message type to a Sophus SE2 type. More...
template<class Scalar >
void	fromMsg (const beluga_ros::msg::Pose &msg, Sophus::SE3< Scalar > &out)
	Converts a Pose message type to a Sophus SE3 type. More...
template<template< typename, std::size_t > class Array, typename Scalar >
Array< Scalar, 36 > &	covarianceEigenToRowMajor (const Sophus::Matrix3< Scalar > &in, Array< Scalar, 36 > &out)
	Converts a Sophus (ie. Eigen) 3x3 covariance matrix to a 6x6 row-major array. More...
template<template< typename, std::size_t > class Array, typename Scalar >
Sophus::Matrix3< Scalar > &	covarianceRowMajorToEigen (const Array< Scalar, 36 > &in, Sophus::Matrix3< Scalar > &out)
	Converts a 6x6 row-major array to an Eigen 3x3 covariance matrix. More...
template<typename Scalar >
beluga_ros::msg::PoseWithCovariance	toMsg (const Sophus::SE3< Scalar > &in, const Eigen::Matrix< Scalar, 6, 6 > &covariance)

Detailed Description

tf2 namespace extension for message conversion overload resolution.

Function Documentation

covarianceEigenToRowMajor()

template<template< typename, std::size_t > class Array, typename Scalar >

Array<Scalar, 36>& tf2::covarianceEigenToRowMajor ( const Sophus::Matrix3< Scalar > &  in, Array< Scalar, 36 > &  out  )

inline

Converts a Sophus (ie. Eigen) 3x3 covariance matrix to a 6x6 row-major array.

Parameters

in	A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).
out	A row-major array of 36 covariance values of a 3D pose.

Returns

a reference to out.

covarianceRowMajorToEigen()

template<template< typename, std::size_t > class Array, typename Scalar >

Sophus::Matrix3<Scalar>& tf2::covarianceRowMajorToEigen ( const Array< Scalar, 36 > &  in, Sophus::Matrix3< Scalar > &  out  )

inline

Converts a 6x6 row-major array to an Eigen 3x3 covariance matrix.

Parameters

in	A row-major array of 36 covariance values of a 3D pose.
out	A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).

Returns

A Sophus (ie. Eigen) 3x3 covariance matrix of a 2D pose (x, y, yaw).

fromMsg() [1/4]

template<class Scalar >

void tf2::fromMsg ( const beluga_ros::msg::Pose &  msg, Sophus::SE2< Scalar > &  out  )

inline

Converts a Pose message type to a Sophus SE2 type.

This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The pose message to convert.
out	The pose converted to a Sophus SE2 element.

fromMsg() [2/4]

template<class Scalar >

void tf2::fromMsg ( const beluga_ros::msg::Pose &  msg, Sophus::SE3< Scalar > &  out  )

inline

Converts a Pose message type to a Sophus SE3 type.

This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The pose message to convert.
out	The pose converted to a Sophus SE3 element.

fromMsg() [3/4]

template<class Scalar >

void tf2::fromMsg ( const beluga_ros::msg::Transform &  msg, Sophus::SE2< Scalar > &  out  )

inline

Converts a Transform message type to a Sophus SE2 type.

This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The transform message to convert.
out	The transform converted to a Sophus SE2 element.

fromMsg() [4/4]

template<class Scalar >

void tf2::fromMsg ( const beluga_ros::msg::Transform &  msg, Sophus::SE3< Scalar > &  out  )

inline

Converts a Transform message type to a Sophus SE3 type.

This function is a specialization of the fromMsg template defined in tf2/convert.h.

Parameters

msg	The transform message to convert.
out	The transform converted to a Sophus SE3 element.

toMsg() [1/6]

template<class Scalar >

beluga_ros::msg::Point tf2::toMsg ( const Eigen::Matrix< Scalar, 2, 1 > &  in )

inline

Converts an Eigen Vector2 type to a Point message.

Parameters

in	The Eigen Vector2 element to convert.

Returns

The converted Point message.

toMsg() [2/6]

template<class Scalar >

beluga_ros::msg::Transform tf2::toMsg ( const Sophus::SE2< Scalar > &  in )

inline

Converts a Sophus SE2 type to a Transform message.

This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Sophus SE2 element to convert.

Returns

The transform converted to a Transform message.

toMsg() [3/6]

template<class Scalar >

beluga_ros::msg::Pose& tf2::toMsg ( const Sophus::SE2< Scalar > &  in, beluga_ros::msg::Pose &  out  )

inline

Converts a Sophus SE2 type to a Pose message.

The canonical message for an SE2 instance is Transform. If a Pose message is needed, this function must be called directly using tf2::toMsg, not through the tf2::convert customization function.

Parameters

in	The Sophus SE2 element to convert.
out	The pose converted to a Pose message.

Returns

The pose converted to a Pose message.

toMsg() [4/6]

template<class Scalar >

beluga_ros::msg::Transform tf2::toMsg ( const Sophus::SE3< Scalar > &  in )

inline

Converts a Sophus SE3 type to a Transform message.

This function is a specialization of the toMsg template defined in tf2/convert.h.

Parameters

in	The Sophus SE3 element to convert.

Returns

The transform converted to a Transform message.

toMsg() [5/6]

template<class Scalar >

beluga_ros::msg::Pose& tf2::toMsg ( const Sophus::SE3< Scalar > &  in, beluga_ros::msg::Pose &  out  )

inline

Converts a Sophus SE3 type to a Pose message.

The canonical message for an SE3 instance is Transform. If a Pose message is needed, this function must be called directly using tf2::toMsg, not through the tf2::convert customization function.

Parameters

in	The Sophus SE3 element to convert.
out	The pose converted to a Pose message.

Returns

The pose converted to a Pose message.

toMsg() [6/6]

template<typename Scalar >

beluga_ros::msg::PoseWithCovariance tf2::toMsg ( const Sophus::SE3< Scalar > &  in, const Eigen::Matrix< Scalar, 6, 6 > &  covariance  )

inline

Converts an SE3 pose and its covariance to a ROS message. NOTE: Input covariance is expected to use tangent space parametrization, consistent with the one in beluga's estimation libraries.